corrected bigquad deck stuff

CMSIS @ a65b7c9a

+Subproject commit a65b7c9a3e6502127fdb80eb288d8cbdf251a6f4

FreeRTOS @ 3604527e

+Subproject commit 3604527e3b31991c596cd420f32989ee890aca4a

cmock @ cb1ad78b

+Subproject commit cb1ad78b974937e1ad717858fab73ec5380ef94b

libdw1000 @ 448a0efd

+Subproject commit 448a0efde42a258139cc8ca61fe53ff3bb4a9b94

unity @ 287e0769

+Subproject commit 287e076962ec711cd2bdf08364a8df9ce51e106b

crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/drivers/src/motors.c

@@ -271,10 +271,13 @@ bool motorsTest(void)
       vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));*/
       motorsConfigureESC();
 #else
+      /*
       motorsSetRatio(MOTORS[i], MOTORS_TEST_RATIO);
       vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
       motorsSetRatio(MOTORS[i], 0);
       vTaskDelay(M2T(MOTORS_TEST_DELAY_TIME_MS));
+      */
+     motorsConfigureESC();
 #endif
     }
   }
@@ -365,18 +368,18 @@ void motorsConfigureESC() {
   vTaskDelay(M2T(20)); // wait 2 ms
 
 
-
-
   motorMap[0]->setCompare(motorMap[0]->tim, motorsConv16ToBits_uCart23(65535));
   vTaskDelay(M2T(2)); // wait 2 ms
   motorMap[0]->setCompare(motorMap[0]->tim, motorsConv16ToBits_uCart23(0));
   vTaskDelay(M2T(20)); // wait 2 msS
 
+
   motorMap[1]->setCompare(motorMap[1]->tim, motorsConv16ToBits_uCart23(65535));
   vTaskDelay(M2T(2)); // wait 2 ms
   motorMap[1]->setCompare(motorMap[1]->tim, motorsConv16ToBits_uCart23(0));
   vTaskDelay(M2T(20)); // wait 2 ms
 
+
   motorMap[2]->setCompare(motorMap[2]->tim, motorsConv16ToBits_uCart23(65535));
   vTaskDelay(M2T(2)); // wait 2 ms
   motorMap[2]->setCompare(motorMap[2]->tim, motorsConv16ToBits_uCart23(0));

crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/controller_student.c

@@ -118,7 +118,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
     }
 
     //set desired thrust
-    thrustDesired = setpoint->thrust/4;
+    thrustDesired = setpoint->thrust;
 
 
     // Run the attitude controller with the measured attitude and desired attitude
@@ -152,7 +152,7 @@ void controllerStudent(control_t *control, setpoint_t *setpoint, const sensorDat
     //update the attitude rate PID, given the current angular rate 
     //read by the gyro and the desired rate 
     studentAttitudeControllerCorrectRatePID(sensors->gyro.x, -sensors->gyro.y, sensors->gyro.z,
-                             rateDesired.roll, rateDesired.pitch, setpoint->attitudeRate.yaw,
+                             rateDesired.roll, rateDesired.pitch, rateDesired.yaw,
                              &(control->roll), &(control->pitch), &(control->yaw));
     rateDesired.yaw = setpoint->attitudeRate.yaw;
     //invert yaw control

crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/power_distribution_stock.c

@@ -81,6 +81,10 @@ void powerStop()
   motorsSetRatio(MOTOR_M4, 0);
 }
 
+int scaleThrustForMicroPi(uint16_t value_in) {
+  return value_in / 4;
+}
+
 void powerDistribution(const control_t *control)
 {
   #ifdef QUAD_FORMATION_X

crazyflie_software_big_quad/crazyflie-firmware-2021.06/src/modules/src/student_attitude_controller.c

@@ -135,13 +135,13 @@ void studentAttitudeControllerCorrectRatePID(
 {
   studentPidSetDesired(&pidRollRate, rollRateDesired);
   
-  *rollCommand = saturateSignedInt16(studentPidUpdate(&pidRollRate, rollRateMeasured, true)/4);
+  *rollCommand = saturateSignedInt16(studentPidUpdate(&pidRollRate, rollRateMeasured, true));
 
   studentPidSetDesired(&pidPitchRate, pitchRateDesired);
-  *pitchCommand = saturateSignedInt16(studentPidUpdate(&pidPitchRate, pitchRateMeasured, true)/4);
+  *pitchCommand = saturateSignedInt16(studentPidUpdate(&pidPitchRate, pitchRateMeasured, true));
 
   studentPidSetDesired(&pidYawRate, yawRateDesired);
-  *yawCommand = saturateSignedInt16(studentPidUpdate(&pidYawRate, yawRateMeasured, true)/4);
+  *yawCommand = saturateSignedInt16(studentPidUpdate(&pidYawRate, yawRateMeasured, true));
 }
 
 void studentAttitudeControllerResetRollAttitudePID(void)